Tilting-type automatic pouring method and a medium that stores programs to control the tilting of a ladle

A computer-readable non-transitory storage medium storing a program for controlling a ladle to pour molten metal into a sprue of a mold by controlling voltages supplied to a first servomotor tilting the ladle, a second servomotor moving the ladle backward and forward, and a third servomotor lifting and lowering the ladle, whereby the molten metal is poured into a mold by the tilting of the ladle, the program, when executed, controlling a computer to:

• produce a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue, the mathematical model including:
• a first term describing a first relationship between a target flow rate of the molten metal flowing from the ladle when the ladle is tilted and a speed of the molten metal flowing out of the ladle, and
• a second term describing a second relationship between the speed and a position where the molten metal drops on the upper surface of the sprue;
• solve an inverse problem of the mathematical model;
• estimate the position where the molten metal drops based on a result of the solving the inverse problem;
• determine target voltages to be supplied to the first, second, and third servomotors, at least the target voltage to be supplied to the second servomotor being determined based on the estimated position;
• and
• control the first, second, and third servomotors based on the respective target voltages.